CN103547830B - The wavegenerator of Wave gear device - Google Patents
The wavegenerator of Wave gear device Download PDFInfo
- Publication number
- CN103547830B CN103547830B CN201280001491.0A CN201280001491A CN103547830B CN 103547830 B CN103547830 B CN 103547830B CN 201280001491 A CN201280001491 A CN 201280001491A CN 103547830 B CN103547830 B CN 103547830B
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- Prior art keywords
- roller
- gear
- center axis
- flexible external
- external gear
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H49/00—Other gearings
- F16H49/001—Wave gearings, e.g. harmonic drive transmissions
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H1/00—Toothed gearings for conveying rotary motion
- F16H1/28—Toothed gearings for conveying rotary motion with gears having orbital motion
- F16H1/32—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear
- F16H2001/327—Toothed gearings for conveying rotary motion with gears having orbital motion in which the central axis of the gearing lies inside the periphery of an orbital gear with orbital gear sets comprising an internally toothed ring gear
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/19—Gearing
Abstract
The external tooth forming section of the flexible external gear (3) of the cup-shaped of Wave gear device (1) is deflected into oval shape by the wavegenerator of six roll-types (4).Deflect into the inclination angle being positioned at the position on the major axis (L1) of described elliptical shape in the inner peripheral surface (37) of the external tooth forming section of elliptical shape maximum.It is identical with the inclination angle at the position of described inner peripheral surface that first roller (51,52) of wavegenerator (4) is configured to inclination angle.Due to the circular circumference face (51b) of the first roller (51,52) can be made not contact with not offseting with the position of described inner peripheral surface on the teeth directional of external tooth, the angle transmitting accuracy of Wave gear device (1) therefore can be improved.
Description
Technical field
The present invention relates to a kind of Wave gear device, particularly relate to and a kind ofly make the flexible external gear of cup-shaped or carnival hat shape deflect into ellipticity by multiple roller and make the wavegenerator of its roll-type engaged with rigidity internal-gear.
Background technique
As the wavegenerator of Wave gear device, there will be a known the wavegenerator of roll-type.The wavegenerator of this roll-type is make the flexible external gear of Wave gear device deflect into ellipticity to comprise multiple roller.A kind of wavegenerator utilizing two rollers the flexible external gear of cup-shaped to be deflected into elliptoid two roll-types is disclosed in patent documentation 1,2.Patent Document 3 discloses a kind of wavegenerator of two roll-types and the wavegenerator of six roll-types, wherein, the wavegenerator of six roll-types comprises: be configured in a pair roller on the major axis of the flexible external gear deflecting into elliptoid cup-shaped; And the two pairs of rollers be configured between major axis and minor axis.
Prior art document
Patent documentation
Patent documentation 1: Japan Patent Beneficial 03-4955 publication
Patent documentation 2: Japan Patent Beneficial 03-4956 publication
Patent documentation 3: Japanese Patent Laid-Open 2003-232411 publication
Summary of the invention
Invent technical problem to be solved
As shown in Fig. 7 illustrates, the flexible external gear of cup-shaped or carnival hat shape is under being deflected into elliptoid state by wavegenerator, and deflection increases along with the increase of the distance apart from barrier film.In the figure, the direction of the central axis 101 of flexible external gear 100 is set to x-axis, its radial direction is set to y-axis.
In the figure, flexible external gear 100 comprises the cylindrical body portion 102 that can bend in the radial direction, divides be formed with external tooth 104 in the outer circumferential surface section of peristome 103 side of its forward end.Be formed with the barrier film 105 that the inner side towards radial direction extends in the rear end in cylindrical body portion 102 continuously, be formed with the circular axle sleeve 106 of heavy wall at the inner circumference edge of barrier film 105 continuously.
The external tooth forming section being formed with external tooth 104 of flexible external gear 100 is deflected into ellipticity by wavegenerator (not shown).When wavegenerator rotates, as indicated schematically in the figures, the cylindrical body portion 102 of flexible external gear 100 and barrier film 105 bend repeatedly.Position on the major axis deflecting into elliptoid cylindrical body portion 102, as indicated by broken line a, increases roughly pro rata towards the deflection outside radial direction and the distance of teeth directional from barrier film 105 towards peristome 103 apart from barrier film 105 along external tooth 104.Position on minor axis, as shown in double dot dash line B, increases roughly pro rata towards the deflection inside radial direction and the distance apart from barrier film 105.The inclination of the central axis 101 of inner peripheral surface 107 relative to flexible external gear 100 on major axis position and minor axis location of the external tooth forming section of flexible external gear 100 is maximum.
In the wavegenerator of roll-type in the past, the central axis of each roller is supported to the centerline axis parallel with flexible external gear 100.Therefore, the circular circumference face (the circular circumference face of the bearing outer ring of roller) of roller can offset at the position contacted with the inner peripheral surface 107 of external tooth forming section on the teeth directional of external tooth.Especially, larger skew can be there is in the position that roller is contacting with the inner peripheral surface 107 of external tooth forming section be configured on major axis.Consequently, the angle transmitting accuracy as the key property of Wave gear device may be deteriorated.
In view of the above problems, technical problem to be solved by this invention is the wavegenerator proposing a kind of roll-type, and it has between the flexible external gear of cup-shaped or carnival hat shape, can not produce the structure of skew in contact position.
The technological scheme that technical solution problem adopts
In the present invention, the external tooth forming section of the flexible external gear of cup-shaped or carnival hat shape is deflected into ellipticity by the wavegenerator of roll-type.So that will elliptoid external tooth forming section be deflected into when comprising the plane cutting of Gear center axis of flexible external gear, the mode that inclination angle is consistent with the inclination angle of the inner peripheral surface of this external tooth forming section, sets the inclination angle of the outer circumferential face of the roller be positioned on the major axis deflecting into elliptoid external tooth forming section.When comprising the roller in circular circumference face of same diameter, only its roller center axis need be made to tilt.Also roller center axes settings can be become the centerline axis parallel with flexible external gear, the circular circumference face of roller is set to the conical surface, and its angle of inclination is set to the angle consistent with the inclination angle of the inner peripheral surface of external tooth forming section.
Deflecting into the inner peripheral surface of external tooth forming section of elliptical shape, the outer circumferential face of the roller inner peripheral surface part be positioned on major axis maximum with inclination angle on the teeth directional of external tooth can be made not contact with not offseting.By this, can prevent or oscillation suppression gearing angle transmitting accuracy be deteriorated.
At this, for the roller of the wavegenerator abutted with the position beyond major axis position on the inner peripheral surface deflecting into elliptoid external tooth forming section, it is preferable that, make the outer circumferential face of roller be inclined to the inclination angle consistent with the inclination angle of the inner peripheral surface of the external tooth forming section of each position.Like this, each roller of wavegenerator can be made not contact with not offseting with the inner peripheral surface of the external tooth forming section of flexible external gear.
Accompanying drawing explanation
Fig. 1 represents the schematic front view applying Wave gear device of the present invention.
Fig. 2 is the schematic longitudinal elevation view of the Wave gear device of Fig. 1.
Fig. 3 is the stereogram of the wavegenerator of the Wave gear device representing Fig. 1.
Fig. 4 represents to be positioned at the schematic diagram that deflection becomes the configuration status of the roller on the major axis of elliptoid flexible external gear.
Fig. 5 is when to represent with the angular transmission error of the wavegenerator of existing six roll-types for benchmark, the chart of the size of angular transmission error when using the wavegenerator of the wavegenerator of existing two roll-types and six roll-types of the present invention.
Fig. 6 is the explanatory drawing of other example representing roller.
Fig. 7 is the explanatory drawing of the deflected of the flexible external gear representing cup-shaped.
Embodiment
Below, with reference to accompanying drawing, the mode of execution applying Wave gear device of the present invention is described.
Fig. 1 and Fig. 2 is schematic front view and the schematic longitudinal elevation view of the Wave gear device representing present embodiment.Wave gear device 1 is called as cup-shaped device, has circular rigidity internal-gear 2, is configured at the flexible external gear 3 of the cup-shaped inside this rigidity internal-gear 2, is configured at six roll-type wavegenerators 4 inside this flexible external gear 3.By wavegenerator 4, flexible external gear 3 deflects into ellipticity, and the external tooth part be positioned in longitudinal axis L 1 deflecting into elliptoid flexible external gear 3 engages with the internal tooth of rigidity internal-gear 2.
Wavegenerator 4 is by the driving of not shown motor during High Rotation Speed, and the engaging position of two gears 2,3 is moved in the circumferential, produces the relative rotation corresponding with number of teeth difference 2n piece (n is positive integer) of two gears 2,3 between two gears 2,3.Number of teeth difference is generally two pieces, such as, when rigidity internal-gear 2 being fixed into non rotating, flexible external gear 3 rotates with the rotating speed significantly slowed down relative to the rotation (input rotates) of wavegenerator 4, therefore, can be rotated in deceleration from this flexible external gear 3 towards load side transmission.
Rigidity internal-gear 2 comprises circular rigid member 21, is formed at the internal tooth 22 of the circular inner peripheral surface of this rigid member 21.On rigid member 21, along the circumferential direction have bolt hole 23 with the gap-forming of regulation, bolt hole 23 in a device rigid member 21 is run through in axle line 1a direction.
The flexible external gear 3 of cup-shaped comprises: the cylindrical body portion 31 that can bend in the radial direction; Be connected with the rear end in this cylindrical body portion 31, and the barrier film 32 extended towards the inner side of radial direction; And the circular axle sleeve 33 of the heavy wall to be connected to form with the inner circumference edge of this barrier film 32.On axle sleeve 33, be along the circumferential direction formed with the bolt hole 34 installed with the angle intervals of regulation.Divide in the outer circumferential surface section in this cylindrical body portion 31 of peristome 35 side in cylindrical body portion 31 and be formed with external tooth 36.
Fig. 3 is the stereogram representing wavegenerator 4.Be described with reference to Fig. 1 ~ Fig. 3, wavegenerator 4 comprises: hollow input shaft 41; The outer circumferential face being fixed on this hollow input shaft 41 coaxially or the supporting disk 42 formed as the part with hollow input shaft 41 one; And be installed on six rollers 51 ~ 56 of this supporting disk 42.In these rollers, roller 51,52 be configured at respectively relative to the center of flexible external gear 3 be point-symmetric position pair of first rolls son.Similarly, roller 53,54 is that to be configured at relative to the center of flexible external gear 3 be a pair second rollers of point-symmetric position, and roller 55,56 is that to be configured at relative to the center of flexible external gear 3 be a pair the 3rd rollers of point-symmetric position.
Pair of first rolls 51,52 is positioned in the longitudinal axis L 1 of the flexible external gear 3 deflecting into elliptical shape, under the state that the inner peripheral surface 37 being formed with the part of external tooth 36 of flexible external gear 3 bends towards outside, pair of first rolls 51,52 abuts with this inner peripheral surface 37.A pair second rollers 53,54 are configured at the position after turning clockwise predetermined angular from longitudinal axis L 1 between longitudinal axis L 1 and minor axis L2, under the state that the inner peripheral surface 37 of the external tooth forming section of flexible external gear 3 bends towards outside, a pair second rollers 53,54 abut with this inner peripheral surface 37.Similarly, a pair the 3rd rollers 55,56 are positioned at a pair second rollers 53,54 across the position of longitudinal axis L 1 in line symmetry, and under the state bent towards outside at the inner peripheral surface 37 of flexible external gear 3, abut with this inner peripheral surface 37.
As shown in Figure 2, the first roller 51 comprises the fulcrum 61 of the end face 42a being fixed on supporting disk 42, is installed on the block bearing 62 of the outer circumferential face of this fulcrum 61, and the block bearing 62 of this example is zanjon ball bearing.Block bearing 62 comprises the outer ring 64 be fixed on the inner ring 63 of fulcrum 61 and abutted with the inner peripheral surface 37 of the external tooth forming section of flexible external gear 3, the multiple balls 65 inserting the circular track be formed between above-mentioned inner ring 63 and outer ring 64 with the state that can roll.Because other roller 52 ~ 56 also adopts identical structure, therefore omit their description.
First roller 51,52 measure-alike, their block bearing 51a, 52a's is measure-alike.In addition, the second roller the 53,54 and the 3rd roller 55,56 measure-alike, their block bearing measure-alike.In addition, block bearing 51a, 52a of the first roller 51,52 are larger than the size of the block bearing of the second roller the 53,54 and the 3rd roller 55,56, and dynamic load rating is larger.The size of above-mentioned first roller the 51 ~ three roller 56 acts on each roller 51 ~ 56 load when carrying out load operation according to Wave gear device 1 is determined.
Fig. 4 be by deflect into elliptoid flexible external gear 3 with comprise its Gear center axis and be positioned at the first roller 51 in the longitudinal axis L 1 of wavegenerator 4 central axis 51a plane cutting after schematic diagram.
As shown in Figure 4, the first roller 51 circular circumference face 51b along deflect into elliptical shape flexible external gear 3 external tooth forming section inner peripheral surface 37 direction on extend.Therefore, the fulcrum 61 of the first roller 51 is fixed on supporting disk 42 in the mode parallel with inner peripheral surface 37.That is, in the mode that inclination angle and the inner peripheral surface 37 on major axis are identical relative to the inclination angle theta of device central axis 1a (Gear center axis), the direction of the central axis 51a of the first roller 51 is set.The direction of the central axis 52a of another the first roller 52 sets similarly.
Similarly, for the second roller 53, in the mode extended along the direction identical with the inner peripheral surface 37 of the external tooth forming section that this second roller 53 abuts, set the direction of the central axis 53a of the second roller 53.The central axis 54a of another the second roller 54 sets similarly.In addition, about the 3rd roller 55,56, the direction of their central axis 55a, 56a is set similarly.
In the Wave gear device 1 formed as mentioned above, the respective circular circumference face of the first roller the 51 ~ three roller 56 of wavegenerator 4 can be made not contact with the inner peripheral surface 37 of the external tooth forming section of flexible external gear 3 with not offseting on the teeth directional of external tooth 36.Therefore, the angle transmitting accuracy of Wave gear device 1 can be improved.
Fig. 5 is the chart representing effect of the present invention, when to illustrate with the angular transmission error of the wavegenerator of existing six roll-types as benchmark, the size of angular transmission error when using the wavegenerator of the wavegenerator of existing two roll-types and six roll-types of the present invention.When angular transmission error when using the wavegenerator of existing six roll-types is set to 100%, in the wavegenerator of existing two roll-types, observe the angular transmission error more than 80%.On the other hand, when using the wavegenerator 4 of six roll-types of the present invention, confirm angular transmission error can be reduced to existing 60% less than.
In addition, use the roller 51 ~ 56 of the size of the load diatibution of the wavegenerator 4 when being applicable to load operation due to wavegenerator 4, therefore effectively can also improve the life-span of Wave gear device 1.
(other mode of execution)
In above-mentioned wavegenerator 4, the central axis 51a ~ 56a of each roller 51 ~ 56 tilts.Also the central axis 51a ~ 56a of each roller 51 ~ 56 can be set to parallel with the central axis 1a of Wave gear device 1, roller outer circumferential face shape is formed as the conical surface.
Such as, as shown in Figure 6, the circular circumference face 70b of each roller 70 of wavegenerator is formed as the conical surface of the inner peripheral surface 37 along external tooth forming section, and by the fulcrum central axis 70a of roller 70 with device centerline axis parallel be fixed on the supporting disk (not shown) of wavegenerator under the state that extends.Now, the circular circumference face 70b of each roller 70 also can be made not contact with not offseting with the inner peripheral surface 37 of the external tooth forming section of flexible external gear 3.
Example when above-mentioned example is the wavegenerator using six roll-types in the Wave gear device of cup type.For the Wave gear device being called as carnival hat type of flexible external gear comprising carnival hat shape, equally also the present invention can be applied.
In addition, the present invention equally also can be applied to the roll-type wavegenerator of the roller of the number comprised beyond six.That is, can be applied to comprise a pair roller wavegenerator, comprise the wavegenerator of number than the roller more than six.Such as, amounting to for also comprising four pairs of rollers except a pair roller on major axis the wavegenerator be made up of ten rollers, also can apply the present invention.
Claims (8)
1. the wavegenerator of a Wave gear device, the flexible external gear of cup-shaped or carnival hat shape is made to deflect into pre-set elliptical shape, to form the state engaged with rigidity internal-gear local, along with rotation makes the engaging position of described flexible external gear and described rigidity internal-gear circumferentially move, thus between described flexible external gear with described rigidity internal-gear, produce the relative rotation corresponding with the number of teeth difference of described flexible external gear and described rigidity internal-gear, described wavegenerator comprises and abuts with the inner peripheral surface of described flexible external gear and make this flexible external gear deflect into multiple rollers of described elliptical shape, described roller at least comprise be configured in described elliptical shape major axis on two the first rollers,
It is characterized in that,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane comprising its Gear center axis and described major axis, the circular circumference face of described first roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is consistent relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described first roller abuts.
2. the wavegenerator of Wave gear device as claimed in claim 1, is characterized in that,
Described first roller comprises the identical circular circumference face of diameter,
The roller center axis of this first roller tilts relative to described Gear center axis.
3. the wavegenerator of Wave gear device as claimed in claim 2, is characterized in that,
Described roller, except described first roller, also comprises multiple second roller,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane of the roller center axis comprising described Gear center axis and described second roller, the roller center axis of described second roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is consistent relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described second roller abuts.
4. the wavegenerator of Wave gear device as claimed in claim 2, is characterized in that,
Described roller, except described first roller, at least also comprises two the second rollers and two the 3rd rollers,
Each described second roller at the center relative to described elliptical shape be point-symmetric position is configured at described elliptical shape between major axis and minor axis,
It is on the position of line symmetry that each described 3rd roller to be configured in centered by described major axis with each described second roller,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane of the roller center axis comprising described Gear center axis and described second roller, the roller center axis of described second roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is identical relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described second roller abuts
The roller center axis of described 3rd roller relative to described Gear center axis with the angular slope identical with the roller center axis of described second roller.
5. a Wave gear device, comprising: rigidity internal-gear; Flexible external gear, this flexible external gear is configured at the inner side of described rigidity internal-gear coaxially, and can bend towards radial direction; And wavegenerator, this wavegenerator makes described flexible external gear deflect into elliptical shape, engage with described rigidity internal-gear to make the position of this flexible external gear on the major axis of described elliptical shape, described wavegenerator comprises and abuts with the inner peripheral surface of described flexible external gear and make this flexible external gear deflect into multiple rollers of described elliptical shape, described roller at least comprise be configured in described elliptical shape major axis on two the first rollers
It is characterized in that,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane comprising its Gear center axis and described major axis, the circular circumference face of described first roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is consistent relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described first roller abuts.
6. Wave gear device as claimed in claim 5, is characterized in that,
Described first roller comprises the identical circular circumference face of diameter,
The roller center axis of this first roller tilts relative to described Gear center axis.
7. Wave gear device as claimed in claim 6, is characterized in that,
Described roller, except described first roller, also comprises multiple second roller,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane of the roller center axis comprising described Gear center axis and described second roller, the roller center axis of described second roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is identical relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described second roller abuts.
8. Wave gear device as claimed in claim 6, is characterized in that,
Described roller, except described first roller, at least also comprises two the second rollers and two the 3rd rollers,
Each described second roller at the center relative to described elliptical shape be point-symmetric position is configured at described elliptical shape between major axis and minor axis,
It is on the position of line symmetry that each described 3rd roller to be configured in centered by described major axis with each described second roller,
When the described flexible external gear deflecting into described elliptical shape is carried out cutting by the plane of the roller center axis comprising described Gear center axis and described second roller, the roller center axis of described second roller tilts relative to described Gear center axis, and its inclination angle and described flexible external gear is identical relative to the inclination angle of described Gear center axis with the position of the described inner peripheral surface that the outer circumferential face of described second roller abuts
The roller center axis of described 3rd roller relative to described Gear center axis with the angular slope identical with the roller center axis of described second roller.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2012/003377 WO2013175533A1 (en) | 2012-05-23 | 2012-05-23 | Wave generators for wave gear apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103547830A CN103547830A (en) | 2014-01-29 |
| CN103547830B true CN103547830B (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201280001491.0A Active CN103547830B (en) | 2012-05-23 | 2012-05-23 | The wavegenerator of Wave gear device |
Country Status (7)
| Country | Link |
|---|---|
| US (1) | US8833205B2 (en) |
| JP (1) | JP5335152B1 (en) |
| KR (1) | KR101362708B1 (en) |
| CN (1) | CN103547830B (en) |
| DE (1) | DE112012000022T5 (en) |
| HK (1) | HK1191682A1 (en) |
| WO (1) | WO2013175533A1 (en) |
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| JP4646233B2 (en) * | 2006-02-28 | 2011-03-09 | 株式会社ハーモニック・ドライブ・システムズ | Method for reducing holding torque of input side of wave gear device and rotary actuator |
| JP4902227B2 (en) * | 2006-03-01 | 2012-03-21 | 本田技研工業株式会社 | Wave gear device |
| JP2007303592A (en) * | 2006-05-12 | 2007-11-22 | Honda Motor Co Ltd | Harmonic drive |
| JP4939185B2 (en) * | 2006-11-27 | 2012-05-23 | 荻野工業株式会社 | Oscillating gear unit |
| JP2010190373A (en) * | 2009-02-20 | 2010-09-02 | Harmonic Drive Syst Ind Co Ltd | Wave gear device |
| JP5275150B2 (en) * | 2009-06-23 | 2013-08-28 | 株式会社ハーモニック・ドライブ・システムズ | Wave gear device |
| CN201651187U (en) * | 2010-02-24 | 2010-11-24 | 博瑞克传动设备(焦作)有限公司 | Gyro-precession type speed reducer |
-
2012
- 2012-05-23 WO PCT/JP2012/003377 patent/WO2013175533A1/en active Application Filing
- 2012-05-23 US US13/696,004 patent/US8833205B2/en active Active
- 2012-05-23 DE DE112012000022.6T patent/DE112012000022T5/en active Granted
- 2012-05-23 CN CN201280001491.0A patent/CN103547830B/en active Active
- 2012-05-23 KR KR1020127031705A patent/KR101362708B1/en active IP Right Grant
- 2012-05-23 JP JP2012548661A patent/JP5335152B1/en active Active
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2014
- 2014-05-21 HK HK14104769.5A patent/HK1191682A1/en not_active IP Right Cessation
Also Published As
| Publication number | Publication date |
|---|---|
| KR20130142055A (en) | 2013-12-27 |
| KR101362708B1 (en) | 2014-02-12 |
| JPWO2013175533A1 (en) | 2016-01-12 |
| CN103547830A (en) | 2014-01-29 |
| DE112012000022T5 (en) | 2014-02-20 |
| HK1191682A1 (en) | 2014-08-01 |
| US8833205B2 (en) | 2014-09-16 |
| WO2013175533A1 (en) | 2013-11-28 |
| US20130316868A1 (en) | 2013-11-28 |
| JP5335152B1 (en) | 2013-11-06 |
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